cmake_minimum_required(VERSION 3.0.2)
project(art_planner)

## Compile as C++14
 add_compile_options(-std=c++14)
find_package(catkin REQUIRED grid_map_core)

find_package(ompl REQUIRED)

find_package(ODE REQUIRED ode)

find_package(OpenCV REQUIRED)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS grid_map_core
  DEPENDS OMPL ODE
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OMPL_INCLUDE_DIRS}
  ${ODE_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
  src/start.cpp
  src/goal.cpp
  src/map/map.cpp
  src/map/processors/basic.cpp
  src/map/processors/change.cpp
  src/map/processors/probability_distribution.cpp
  src/map/processors/sample_density.cpp
  src/params.cpp
  src/planner.cpp
  src/utils.cpp
  src/sampler.cpp
  src/validity_checker/validity_checker.cpp
  src/validity_checker/validity_checker_body.cpp
  src/validity_checker/validity_checker_feet.cpp
  src/validity_checker/height_map_box_checker.cpp
  src/objectives/path_length_objective.cpp
  src/objectives/motion_cost_objective.cpp
  src/planners/lazy_prm_star_min_update.cpp
  src/planners/prm_motion_cost.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/art_planner_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${OMPL_LIBRARIES}
  ${ODE_LIBRARIES}
)

### Install

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  PATTERN ".svn" EXCLUDE
)
